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package com.team1160.breakaway.input;

import com.team1160.breakaway.Robot;
import com.team1160.breakaway.api.Constants;
import edu.wpi.first.wpilibj.Accelerometer;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Gyro;

/**
 *
 * @author Saketh Kasibatla
 */
public class RobotInput implements RobotInputtable{
    //instance fields
    ////////////////////////////////////////////////////////////////////////////
    protected Encoder e_left_drive;
    protected Encoder e_right_drive;
    protected Gyro gyroscope = new Gyro(Constants.C_GYRO);
    protected Accelerometer accel = new Accelerometer(Constants.C_ACCEL);


    public RobotInput(){
            this.e_left_drive = new Encoder(Constants.C_LEFT_DRIVE_ENCODER_A,
                Constants.C_LEFT_DRIVE_ENCODER_B);
            this.e_right_drive = new Encoder(Constants.C_RIGHT_DRIVE_ENCODER_A,
                Constants.C_RIGHT_DRIVE_ENCODER_B);
    }


    public double getGyroAngle() {
        return this.gyroscope.getAngle();
    }

    public double getAccelRate() {
        return this.accel.getAcceleration();
    }





    

}
